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https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git
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0b882db74f
* Enforce clang-format on the repo * improve CI config * fix build error * undo src format * apply format by hand * fix last one * fix build error * wat
52 lines
1.3 KiB
C++
52 lines
1.3 KiB
C++
#ifndef SLIMEVR_SENSORFUSIONRESTDETECT_H_
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#define SLIMEVR_SENSORFUSIONRESTDETECT_H_
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#include "../motionprocessing/RestDetection.h"
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#include "SensorFusion.h"
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#if SENSOR_USE_VQF
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#define SENSOR_FUSION_WITH_RESTDETECT 1
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#else
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#define SENSOR_FUSION_WITH_RESTDETECT 0
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#endif
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namespace SlimeVR {
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namespace Sensors {
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#if !SENSOR_FUSION_WITH_RESTDETECT
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struct SensorRestDetectionParams : RestDetectionParams {
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SensorRestDetectionParams()
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: RestDetectionParams() {
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restMinTime = 2.0f;
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restThGyr = 0.6f; // 400 norm
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restThAcc = 0.06f; // 100 norm
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}
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};
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#endif
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class SensorFusionRestDetect : public SensorFusion {
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public:
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SensorFusionRestDetect(float gyrTs, float accTs = -1.0, float magTs = -1.0)
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: SensorFusion(gyrTs, accTs, magTs)
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#if !SENSOR_FUSION_WITH_RESTDETECT
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, restDetection(restDetectionParams, gyrTs, (accTs < 0) ? gyrTs : accTs)
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#endif
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{
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}
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bool getRestDetected();
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#if !SENSOR_FUSION_WITH_RESTDETECT
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void updateAcc(const sensor_real_t Axyz[3], const sensor_real_t deltat);
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void updateGyro(const sensor_real_t Gxyz[3], const sensor_real_t deltat);
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#endif
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protected:
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#if !SENSOR_FUSION_WITH_RESTDETECT
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SensorRestDetectionParams restDetectionParams{};
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RestDetection restDetection;
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#endif
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};
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} // namespace Sensors
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} // namespace SlimeVR
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#endif // SLIMEVR_SENSORFUSIONRESTDETECT_H_
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